posiwire wst positape wbt combined displacement and ... · before connecting the sensor to the...
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posiwire® WST
positape® WBT
Combined displacement and inclination sensors
Output specification CANopen
posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen Pos: null /Bedi enungsanlei tungen/Posiwir e/WST /CAN _Spec_WST_WBT/Tech_Dat_C AN open_WST_W BT @ 8\mod_1554803953112_78.docx @ 63390 @ @ 1
MCANOP, CANOPR
CAN specification ISO 11898, Basic and Full CAN 2.0 B
Communication profile CANopen CiA 301 V 4.02, Slave
Encoder profile Encoder CiA 406 V 3.2
Error Control Node Guarding, Heartbeat, Emergency Message
Node ID Adjustable via LSS or SDO, default: 127
PDO 3 TxPDO, 0 RxPDO, no linking, static mapping
PDO Modes Event-/Time triggered, Remote-request, Sync cyclic/acyclic
SDO 1 Server, 0 Client
CAM 8 cams
Certified Yes
Transmission rate 50 kBit bis 1 Mbit, adjustable via LSS or SDO, default: 125 kBit
Bus connection M12 conncector, 5 pin
Integrated bus terminating resistor
120Ω adjustable by the customer
Bus, galvanic isolated no
Specifications
Excitation voltage 8 ... 36 V DC
Excitation current 20 mA typical at 24 V DC 40 mA typical at 12 V DC 80 mA max.
Measuring rate 0.5 kHz
Stability (temperature) ±50 x 10-6/°C f.s. (typical)
Repeatability 1 LSB
Operating temperature See specification of the respective sensor
Protection Reverse polarity, short circuit
Dielectric strength 1 kV (V AC, 50 Hz, 1 min.)
EMC EN 61326-1:2013
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen posiwire® WST Signal wiring Connector M12, 5 pin
View to the sensor connector
Output signals Connector pin no.
Shield 1
Excitation + 2
GND 3
CAN-H 4
CAN-L 5
positape® WBT Signal wiring Connector M12, 5 pin
View to the sensor connector
Output signals Connector pin no.
Shield 1
Excitation + 2
GND 3
CAN-H 4
CAN-L 5
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen Pos: null /Bedi enungsanlei tungen/M odule Universal/CAN open/01_Overvi ew, set up_CANR @ 7\m od_1325112187048_78.docx @ 59363 @ @ 1
Overview Setup, User Configuration Setup Before connecting the sensor to the CAN-Bus the devices have to be checked for correct bitrate and unique node-IDs. Both parameters are configurable by Layer-Setting-Service (LSS) or by Service Data Object (SDO). After power-on the sensor will enter pre-operational state and send a boot-up message being ready for configuration by Service Data Objects. Parameters configured by the user can be stored nonvolatile by SAVE command. On receiving "NMT-Node-Start" the sensor transits to operational state and starts process data transmission. When "Auto-Start" is configured the sensor will automatically transit to operational after boot-up without a need for the Node-Start message. Node monitoring is supported by Node Guarding and Heartbeat protocol. Node Guarding implements cyclic querying of the node status by the NMT-Master within the guard time window. The Heartbeat protocol provides automatic transmission of the node status (heartbeat message) by the slave within producer heartbeat time window. By using the CAN example protocols included in this manual the sensor may be used without CANopen master device. Dual Channel Configuration Each of the two channels is a logically independent CAN device having a Node-ID on its own. Each channel has to be configured separately. Channel 1 which has the default Node-ID 07Fh accepts odd Node-ID values only while channel 2 which has the default Node-ID 07Eh accepts only even numbers.
Risk of injury by unexpected machine movement! • Changing parameters may cause unexpected machine movement. • Changing parameters may influence dependent parameters e.g. changing the
resolution may have influence on position of CAM switches. • Precautions have to be taken to avoid damage to human and machine parts! • Change parameters only when machine is in a safe condition!
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen Pos: null /Bedi enungsanlei tungen/M odule Universal/CAN open/02_C onfig_messag e_C ANR @ 7\mod_1325112187906_78.docx @ 59368 @ @ 1
Configuration Message Service Data Object (SDO) Configurable parameters of the sensor are accessible by peer to peer communication. The identifier (COB) of the SDO message is defined by the predefined connection set. Parameters to be uploaded or downloaded are addressed by Index and Subindex.
11-Bit CAN-Id 8 Byte data frame
SDO COB-Id CS Index Sub-Index Data
→ Request: Control Unit to Sensor
600h + Node-Id Byte LSB MSB Byte LSB .. .. MSB
← Response: Sensor to Control Unit
580h + Node-Id Byte LSB MSB Byte LSB .. .. MSB
SDO - Download Protocol
8 Byte data frame
CS Index Sub-Index Data
→ Request: Control Unit to Sensor ccs LSB MSB Byte LSB .. .. MSB
← Response: Sensor to Control Unit
scs LSB MSB Byte Reserved
Bit structure of command specifier CS:
b7 b6 b5 b4 b3 b2 b1 b0
→ Request: Control Unit to Sensor ccs X n e s ← Response: Sensor to Control Unit scs X
ccs: control unit command specifier, ccs = 1 (=> CS8 = 2Fh, CS16 = 2Bh, CS32 = 23h) scs: sensor command specifier, scs = 3 (=> CS = 60h) X: reserved e: expedited transfer e = 1 s: data set size = 1 n: number of bytes which do not contain data
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen SDO - Upload Protocol
8 Byte data frame
CS Index Sub-Index Data
→ Request: Control Unit to Sensor
scs LSB MSB Byte Reserved
← Response: Sensor to Control Unit
ccs LSB MSB Byte LSB .. .. MSB
Bit structure of command specifier CS:
b7 b6 b5 b4 b3 b2 b1 b0
→ Request: Control Unit to Sensor
scs X
← Response: Sensor to Control Unit ccs X n e s
ccs: control unit command specifier, ccs = 2 (=> CS = 40h) scs: sensor command specifier, scs = 2 (=> CS8 = 4Fh, CS16 = 4Bh, CS32 = 43h) X: reserved e: expedited transfer e = 1 s: data set size = 1 n: number of bytes which do not contain data
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen
SDO - Abort Peer-to-Peer-Protocol
8 Byte data frame
CS Index Sub-Index Data
→ Response: Control Unit or Sensor
cs LSB MSB Byte Abort Code
Bit structure of command specifier CS for Abort Protocol:
b7 b6 b5 b4 b3 b2 b1 b0
→ Request: Control Unit to Sensor
cs X
cs: control unit / sensor command specifier, cs = 4, (=> CS = 8h) X: reserved
SDO - Abort Code Description Abort Code Description
0601 0001h Attempt to read a write only object.
0601 0002h Attempt to write a read only object.
0602 0000h Object does not exist in the object dictionary.
0604 0043h General parameter incompatibility
0607 0012h Data type does not match, length of service parameter too high
0607 0013h Data type does not match, length of service parameter too low
0609 0030h Value range of parameter exceeded (only for write access). Pos: null /########### Seitenum bruch ################################### @ 0\mod_1353584168894_0.docx @ 336 @ @ 1
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen Pos: null /Bedi enungsanlei tungen/Posiwir e/WST /CAN _Spec_WST_WBT/TPD O_Tr ansmit_W ST_W BT @ 8\m od_1553768476511_78.docx @ 63236 @ @ 1
Transmit-PDO Transmission Type Transmission type of TPDO-1, -2 is configurable by object PDO Communication Parameter 1800, 1801 sub-indices -1, -2, -3 and -5.
Transmission type example for TPDO-1
COB-Id 1800-1
Transmission Type 1800-2
Inhibit Time 1800-3
Event Timer [ms] 1800-5
Event Timer Driven 1FFh FEh 0 ... FFFFh 0 ... FFFFh
Cyclic Synchronous 1FFh N = 1 ... F0h -
TPDO Disable 80 00 xx xx - -
TPDO Enable 00 00 xx xx - -
Transmission type "Event Timer Driven" triggers TPDO-transmission periodically with a time period defined by the event timer. In "Cyclic Synchronous" a TPDO is transmitted on reception of a number of one or multiple SYNC commands. Enable or disable a TPDO by setting Bit 31 of the COB-Id '0' resp. '1' (Default: "0" Enabled). Pos: null /########### Seitenum bruch ################################### @ 0\mod_1353584168894_0.docx @ 336 @ @ 1
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen Pos: null /Bedi enungsanlei tungen/Posiwir e/WST /CAN _Spec_WST_WBT/Comm _pr ofile CiA301_WST_WBT @ 9\m od_1584608124502_78.docx @ 71093 @ @ 1
Communication Profile CiA301
Object Index [hex] Subindex Access Type Default Value Range / Note
Communication Profile CiA301
Device type 1000 0 ro U32 FFFF0196h Multisensor device: Encoder and Inclinometer
Error register 1001 0 ro U8 0 Error status
Pre-defined Error Field, N 1003 0 rw U8 0 Number of Errors
Pre-defined Error Field, Error List 1003 1 .. ro U32 0 Emergency Error Code
COB-ID-SYNC 1005 0 rw U32 080h 1 .. 7FFh
Guard time 100C 0 rw U16 0 0 .. 7FFFh
Life time factor 100D 0 rw U8 0 0 .. FFh
Store Parameters 1010 1 w U32 - „save“ 65766173h
Restore Default Parameters 1011 1 w U32 - „load“ 64616F6Ch
COB-ID-EMCY 1014 0 ro U32 0FFh NodeID+80h
Producer heartbeat time 1017 0 rw U16 0 0 .. 7FFFh
Identity Object VendorID 1018 1 ro U32 252h
Identity Object Product Code
2 ro U32 57425400h "WBT"
Identity Object Revision number
3 ro U32 0001xxxxh x: Software Revision
Identity Object Serial number
4 ro U32 nnnnnnnnh
COB-ID SDO tx 1200 1 ro U32 67Fh Node-Id + 600
COB-ID SDO rx 1200 2 ro U32 5FFh Node-Id + 580
PDO1 COB-ID 1800 1 rw U32 1FFh 181h .. 1FFh
PDO1 Transmission-Type
2 rw U8 FEh 0 .. FFh
PDO1 Inhibit time
3 rw U16 0 0 .. 7FFFh
PDO1 Event timer
5 rw U16 64h 0 .. 7FFFh
TPDO1-Mapped Object 1A00 1 ro U32 60040010h Position
TPDO1-Mapped Object
2 ro U32 68100010h Inclination axis 1
TPDO1-Mapped Object
3 ro U32 68200010h Inclination axis 2
TPDO1-Mapped Object
4 ro U32 00050008h reserved
TPDO1-Mapped Object
5 ro U32 10010008h reserved
NMT-Startup 1F80 0 rw U32 0h 0: Self Starting OFF 8: Self Starting ON
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen Pos: null /Bedi enungsanlei tungen/Posiwir e/WST /CAN _Spec_WST_WBT/Device Profile Ci A406, Ci A410_W ST_W BT @ 9\mod_1584609230394_78.docx @ 71103 @ @ 1
Device Profile 'Linear Encoder' CiA406, 'Tilt Sensor' CiA410
Object Index [hex]
Subindex Access Type
Default Ch1 | Ch2
Value Range, Measuring Unit, Note
Manufacturer
NodeID 2000 0 rw U8 Ch1: 7Fh Ch2: 7Eh
Ch1: 1, 3 .. 7Fh Ch2: 2, 4 .. 7Eh
Bit rate 2010 0 rw U8 4 4, 3, 2, 1, 0
Termination Resistor, Ch1 only 2050 0 rw U8 0 0 OFF, 1 ON
Mounting option 2070 2 rw U8 2 1, 2, 3 Figure mounting options
Linear Position Filter 2102 0 rw U16 0 0, 1 .. 65535ms Step Response Time (90%)
Inclination Filter 2103 0 rw U16 100 0, 1 .. 65535ms Step Response Time (90%)
Linear Encoder
Operating Parameters 6000 0 rw U16 0 | 8h ascending | descending
Total Measuring Range in Measuring Steps 6002 0 rw U32 -
Preset Value 6003 0 rw U32 0 0 .. measuring range
Position Value 6004 0 ro U32 0 0 .. measuring range
Linear encoder measuring step
6005 1 rw U32 1000000 [nm] 106 .. 109
Cyclic Timer 6200 0 rw U16 100 [ms] event timer of TPDO1 0-FFFFh
Inclinometer
Device Type 67FF 0 ro U32 2019Ah Inclinometer 2 axes
Resolution 6800 0 rw U16 10 10, 100, 1000 • 0.001°
Inclination around axis 1 6810 0 ro I16
Operating parameters axis 1 6811 0 rw U8 0 | 3h ascending | descending
Inclination around axis 1 Preset 6812 0 rw I16 0 0 .. ±180°
Inclination around axis 1 Offset
6813 0 rw I16 0 0 .. ±180°
- Changing Node ID, Bit Rate or Termination Resistor will be effective on next power up - For 2-Channel redundant devices Ch1 / Ch2 accept odd / even numbers only - Disable PDOs before changing PDO communication parameters (1800-1: Bit31=1) - Objects 6002h and 6005h depend on each other: 6002h * 6005h = Measuring range [nm] - Restoring to Default Parameters does not affect Bitrate, Node ID and Termination Resistor settings. Pos: null /########### Seitenum bruch ################################### @ 0\mod_1353584168894_0.docx @ 336 @ @ 1 Pos: null /########### Seitenum bruch ################################### @ 0\mod_1353584168894_0.docx @ 336 @ @ 1 Pos : null /Bedi enungsanlei tungen/Posiwir e/WST /CAN _Spec_WST_WBT/Oper ating _Param eters_W ST_WBT @ 8\m od_1553769744593_78.docx @ 63251 @ @ 1
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen Operating Parameters for Linear Position (Object 6000)
15 .. .. .. 4 3 2 1 0
msb lsb
- - - - - md sfc - -
Definition
Field Value Definition
md 0 Measuring direction ascending 1 Measuring direction descending
sfc 0 Scaling function disabled 1 Scaling function enabled
Operating Parameters for Inclination (Object 6811, 6821)
7 6 5 4 3 2 1 0
msb lsb - - - - - - s i
Definition
Field Value Definition
i 0 Inversion disabled 1 Inversion enabled
s 0 Offset and Preset disabled 1 Offset and Preset enabled
Baud Rate (Object 2010)
Baud Rate Index Baud Rate [kbit/s]
0 1000
1 800
2 500
3 250
4 125
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen Pos: null /Bedi enungsanlei tungen/Posiwir e/WST /CAN _Spec_WST_WBT/TPD O_M appi ng_WST_WBT @ 8\mod_1553770458238_78.docx @ 63262 @ @ 1
Process Data Object TPDO Mapping The real time data transfer is provided by process data objects (PDO). The PDO mapping is fixed. The PDO-COB-Ids have a default value which can be changed by accessing object 1800 Sub-Index-1. DLC defines the length of the data field.
TPDO COB-Id DLC
Byte0 Data Frame
Byte7
TPDO-1
180h +Node-Id
(1FFh, 1FEh)
8 Position
Inclination axis 1
Inclination axis 2
reserved reserved
LSB MSB LSB MSB LSB MSB Byte Byte
Definition
Field mapped Object Definition
Position 6004 unsigned integer16, position value
Inclination axis 1 6810 signed integer16, Inclination around axis 1
Inclination axis 2 6820 signed integer16, Inclination around axis 2
TPDO Default Settings The default transmission type of the TPDOs provides ease of putting into operation without configuration work.
TPDO Default COB-Id Default Transmission Type
TPDO-1 Ch1 1FFh, Ch2 1FEh Event Timer 100ms
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen Pos: null /Bedi enungsanlei tungen/M odule Universal/CAN open/C ANopen Exam ple Protocols @ 7\m od_1325112188358_78.docx @ 59378 @ @ 1
CANopen example protocols The example protocols are prepared using the USB-to-CAN Interface with CAN-Monitor „IXXAT“ (HMS Industrial Networks AB). The examples enable the user to configure and run the CANopen sensor from a host PC without using a CANopen master ECU.
CAN Monitor Screen
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen Example: boot up and change parameter
After boot up (line 1) the filter (Object 2102-00) will be changed to 1F4h by an SDO message (line 2). The sensor sends a response message (line 3). Example: change Node-ID
After boot up (line 1) the node-ID (2000h) will be changed from 7F to 7Eh by SDO (line 2, 3). The changed setting is stored nonvolatile by SDO "SAVE" (line 4). The sensor node-ID stays unchanged (Line5, 6) and will become valid on next power down - boot up cycle (line 6). Note: While the configurable parameters will become valid immediately node-ID and baud rate stay unchanged until the next power cycle. Example: switch to operational
After boot up (line 1) a "Start all Nodes" NMT message (line 2) will switch the sensor from pre-operational to operational starting transmission of the process data objects (lines 3...).
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posiwire® WST / positape® WBT Combined displacement and inclination sensors Output specification CANopen Example: change COB-ID of a TPDO
The example sequence shows boot up of node 7Fh in line 1. Write access is enabled be writing 80000000h to COB-ID object, Index 1800-1 (lines 3, 4). Next frame writes a new COB-ID 181h to Index 1800-1 (lines 5, 6). Example: change transmission type of a TPDO
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The example sequence shows boot up of node 7Fh in line 1. Write access is enabled be writing 80000000h to COB-ID object, Index 1800-1 (lines 3, 4). Next two frames write a new Transmission Type 1h to Index 1800-2 (lines 5, 6) and restore the COB-ID object, Index 1800-1 to its original value 1FFh (lines 7, 8).
=== Ende der Liste für Textm arke Inhalt ===
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